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Semi-active Stable Landing Control for SCARA Robot Using Magnetorhelogical Damper
Li ZH(李志海); Wu ZW(吴镇炜); Zhao YW(赵忆文)
作者部门机器人学研究室
会议名称IEEE International Conference on Information and Automation (ICIA 2014)
会议日期July 28-30, 2014
会议地点Hailar, China
会议录名称Proceeding of the IEEE International Conference on Information and Automation
出版者IEEE
出版地Piscataway, NJ, USA
2014
页码740-745
收录类别EI ; CPCI(ISTP)
EI收录号20145000304586
WOS记录号WOS:000363815200135
产权排序1
ISBN号978-1-4799-4100-1
摘要For stable landing motion control of biped robot, a new method using switching control is proposed. The biped robot is with Magenetorhelogical damper based soft driving package. Vibration often occurs in the landing phase of swing foot or unexpected contacting arising abruptly. The residual vibration arising from ground reaction force decreases the safety of biped walking. Firstly, walking gait of the biped robot is analyzed. Then Magenetorhelogical damper is introduced into joint structure to realize vibration suppression by physical mean. And a damping control method for vibration suppression is described. Control structure of joint with elasticity and MR damper is discussed. The strategy could provide reliable suppression effectiveness. Then the switching control method is established by position controller, damping controller and switching terms. Finally, a simulation is implemented to verify the effectiveness of the proposed landing control method.
语种英语
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文献类型会议论文
条目标识符http://ir.sia.cn/handle/173321/15400
专题机器人学研究室
作者单位State Key Laboratory of Robotics, Shenyang Institute of Technology (Shenyang Institute of Automation), Chinese Academy of Science, Shenyang, Liaoning Province, China
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GB/T 7714
Li ZH,Wu ZW,Zhao YW. Semi-active Stable Landing Control for SCARA Robot Using Magnetorhelogical Damper[C]. Piscataway, NJ, USA:IEEE,2014:740-745.
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